/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM2 is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef LOCALMAPPING_H
#define LOCALMAPPING_H

#include "KeyFrame.h"
#include "Map.h"
#include "Tracking.h"
#include "KeyFrameDatabase.h"

#include <mutex>


namespace ORB_SLAM2 {

    class Tracking;

    class Map;

    class LocalMapping {
    public:
        LocalMapping(Map *pMap, const string &strSettingPath);

        // Main function
        void Run();

        void InsertKeyFrame(KeyFrame *pKF);

        // Thread Synch
        void RequestStop();

        void RequestReset();

        bool Stop();

        void Release();

        bool isStopped();

        bool stopRequested();

        bool AcceptKeyFrames();

        void SetAcceptKeyFrames(bool flag);

        bool SetNotStop(bool flag);

        void RequestFinish();

        bool isFinished();

        int KeyframesInQueue() {
            unique_lock<std::mutex> lock(mMutexNewKFs);
            return mlNewKeyFrames.size();
        }

    protected:

        bool CheckNewKeyFrames();

        void ProcessNewKeyFrame();

        void CreateNewMapPoints();

        void MapPointCulling();

        void SearchInNeighbors();

        void MapLineCulling();

        void MapPlaneCulling();

        void KeyFrameCulling();

        cv::Mat ComputeF12(KeyFrame *&pKF1, KeyFrame *&pKF2);

        cv::Mat SkewSymmetricMatrix(const cv::Mat &v);

        void ResetIfRequested();

        bool mbResetRequested;
        std::mutex mMutexReset;

        bool CheckFinish();

        void SetFinish();

        bool mbFinishRequested;
        bool mbFinished;
        std::mutex mMutexFinish;

        Map *mpMap;

        std::list<KeyFrame *> mlNewKeyFrames;

        KeyFrame *mpCurrentKeyFrame;

        std::list<MapPoint *> mlpRecentAddedMapPoints;

        std::list<MapLine *> mlpRecentAddedMapLines;

        std::list<MapPlane *> mlpRecentAddedMapPlanes;

        std::mutex mMutexNewKFs;

        bool mbStopped;
        bool mbStopRequested;
        bool mbNotStop;
        std::mutex mMutexStop;

        bool mbAcceptKeyFrames;
        std::mutex mMutexAccept;

        float mfMFVerTh;
    };

} //namespace ORB_SLAM

#endif // LOCALMAPPING_H
